Abstract
This paper presents a look-ahead driver model with potential application to autonomous cruising of vehicles on highways. The driver model has two physically meaningful parameters: the look-ahead distance and the steering sensitivity. The two parameters are scheduled with respect to the vehicle speed using a preprocessor that converts open-loop steering response data to pseudo-closed-loop steering response data. Sample simulations with a realistic three-dimensional multibody vehicle model are presented for a lane-change scenario. The results indicate that the proposed driver model performs well for a wide range of vehicle speeds.
| Original language | English (US) |
|---|---|
| Journal | SAE Technical Papers |
| DOIs | |
| State | Published - Jan 1 1996 |
| Event | Future Transportation Technology Conference - Vancouver, BC, Canada Duration: Aug 5 1996 → Aug 8 1996 |
ASJC Scopus subject areas
- Automotive Engineering
- Safety, Risk, Reliability and Quality
- Pollution
- Industrial and Manufacturing Engineering
Cite this
A look-ahead driver model for autonomous cruising on highways. / Park, Jungho; Nikravesh, Parviz E.
In: SAE Technical Papers, 01.01.1996.Research output: Contribution to journal › Conference article
}
TY - JOUR
T1 - A look-ahead driver model for autonomous cruising on highways
AU - Park, Jungho
AU - Nikravesh, Parviz E
PY - 1996/1/1
Y1 - 1996/1/1
N2 - This paper presents a look-ahead driver model with potential application to autonomous cruising of vehicles on highways. The driver model has two physically meaningful parameters: the look-ahead distance and the steering sensitivity. The two parameters are scheduled with respect to the vehicle speed using a preprocessor that converts open-loop steering response data to pseudo-closed-loop steering response data. Sample simulations with a realistic three-dimensional multibody vehicle model are presented for a lane-change scenario. The results indicate that the proposed driver model performs well for a wide range of vehicle speeds.
AB - This paper presents a look-ahead driver model with potential application to autonomous cruising of vehicles on highways. The driver model has two physically meaningful parameters: the look-ahead distance and the steering sensitivity. The two parameters are scheduled with respect to the vehicle speed using a preprocessor that converts open-loop steering response data to pseudo-closed-loop steering response data. Sample simulations with a realistic three-dimensional multibody vehicle model are presented for a lane-change scenario. The results indicate that the proposed driver model performs well for a wide range of vehicle speeds.
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U2 - 10.4271/961686
DO - 10.4271/961686
M3 - Conference article
AN - SCOPUS:85072484564
JO - SAE Technical Papers
JF - SAE Technical Papers
SN - 0148-7191
ER -